#novel objects

FoundationPose offers a comprehensive model for 6D pose estimation and tracking, suitable for both model-based and model-free scenarios. By incorporating neural implicit representation and large-scale synthetic training, it negates the need for fine-tuning when a CAD model or reference images are available. With enhancements from a large language model (LLM) and a novel transformer-based architecture, FoundationPose demonstrates exceptional performance across various challenging datasets, surpassing many specialized methods. This system is efficient, needing minimal adjustments for different objects and environments.